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<div class="title">robust_kernel.h</div>  </div>
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<a href="robust__kernel_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_ROBUST_KERNEL_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_ROBUST_KERNEL_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#ifdef _MSC_VER</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &lt;tr1/memory&gt;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Core&gt;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel.html">   51</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_robust_kernel.html">RobustKernel</a></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  {</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      <a class="code" href="classg2o_1_1_robust_kernel.html#ae4f7b1e9d0c9925f98c0b828f554a8ab">RobustKernel</a>();</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="keyword">explicit</span> <a class="code" href="classg2o_1_1_robust_kernel.html#ae4f7b1e9d0c9925f98c0b828f554a8ab">RobustKernel</a>(<span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_robust_kernel.html#affb1dacfd8507540281ff3af2ae6eeb8">delta</a>);</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel.html#a2d0512646603b993efdfc782df0e6df2">   56</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classg2o_1_1_robust_kernel.html#a2d0512646603b993efdfc782df0e6df2">~RobustKernel</a>() {}</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_robust_kernel.html#ab47b071a0cfe466be063f0104bc41d0f">robustify</a>(<span class="keywordtype">double</span> squaredError, Eigen::Vector3d&amp; rho) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_robust_kernel.html#a8d85269635c436fca51324d7cb16a798">setDelta</a>(<span class="keywordtype">double</span> delta);</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel.html#affb1dacfd8507540281ff3af2ae6eeb8">   72</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_robust_kernel.html#affb1dacfd8507540281ff3af2ae6eeb8">delta</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_robust_kernel.html#a4b03953a6e7bfca64efea37fb98548aa">_delta</a>;}</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel.html#a4b03953a6e7bfca64efea37fb98548aa">   75</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_robust_kernel.html#a4b03953a6e7bfca64efea37fb98548aa">_delta</a>;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  };</div><div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a0802a5e01a6b1861ae01013220dec6ac">   77</a></span>&#160;  <span class="keyword">typedef</span> std::tr1::shared_ptr&lt;RobustKernel&gt; <a class="code" href="namespaceg2o.html#a0802a5e01a6b1861ae01013220dec6ac">RobustKernelPtr</a>;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;} <span class="comment">// end namespace g2o</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_robust_kernel_html_a2d0512646603b993efdfc782df0e6df2"><div class="ttname"><a href="classg2o_1_1_robust_kernel.html#a2d0512646603b993efdfc782df0e6df2">g2o::RobustKernel::~RobustKernel</a></div><div class="ttdeci">virtual ~RobustKernel()</div><div class="ttdef"><b>Definition:</b> robust_kernel.h:56</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_html_ae4f7b1e9d0c9925f98c0b828f554a8ab"><div class="ttname"><a href="classg2o_1_1_robust_kernel.html#ae4f7b1e9d0c9925f98c0b828f554a8ab">g2o::RobustKernel::RobustKernel</a></div><div class="ttdeci">RobustKernel()</div><div class="ttdef"><b>Definition:</b> robust_kernel.cpp:31</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_html_a8d85269635c436fca51324d7cb16a798"><div class="ttname"><a href="classg2o_1_1_robust_kernel.html#a8d85269635c436fca51324d7cb16a798">g2o::RobustKernel::setDelta</a></div><div class="ttdeci">virtual void setDelta(double delta)</div><div class="ttdoc">set the window size of the error. </div><div class="ttdef"><b>Definition:</b> robust_kernel.cpp:41</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_html_ab47b071a0cfe466be063f0104bc41d0f"><div class="ttname"><a href="classg2o_1_1_robust_kernel.html#ab47b071a0cfe466be063f0104bc41d0f">g2o::RobustKernel::robustify</a></div><div class="ttdeci">virtual void robustify(double squaredError, Eigen::Vector3d &amp;rho) const =0</div><div class="ttdoc">compute the scaling factor for a error: The error is e^T Omega e The output rho is rho[0]: The actual...</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_html_affb1dacfd8507540281ff3af2ae6eeb8"><div class="ttname"><a href="classg2o_1_1_robust_kernel.html#affb1dacfd8507540281ff3af2ae6eeb8">g2o::RobustKernel::delta</a></div><div class="ttdeci">double delta() const</div><div class="ttdef"><b>Definition:</b> robust_kernel.h:72</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_html"><div class="ttname"><a href="classg2o_1_1_robust_kernel.html">g2o::RobustKernel</a></div><div class="ttdoc">base for all robust cost functions </div><div class="ttdef"><b>Definition:</b> robust_kernel.h:51</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_html_a4b03953a6e7bfca64efea37fb98548aa"><div class="ttname"><a href="classg2o_1_1_robust_kernel.html#a4b03953a6e7bfca64efea37fb98548aa">g2o::RobustKernel::_delta</a></div><div class="ttdeci">double _delta</div><div class="ttdef"><b>Definition:</b> robust_kernel.h:75</div></div>
<div class="ttc" id="namespaceg2o_html_a0802a5e01a6b1861ae01013220dec6ac"><div class="ttname"><a href="namespaceg2o.html#a0802a5e01a6b1861ae01013220dec6ac">g2o::RobustKernelPtr</a></div><div class="ttdeci">std::tr1::shared_ptr&lt; RobustKernel &gt; RobustKernelPtr</div><div class="ttdef"><b>Definition:</b> robust_kernel.h:77</div></div>
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